IMA Preprint Series # 2373

Transcription

1 BATTERY STORAGE CONTROL FOR STEADYING RENEWABLE POWER GENERATION By Shengyuan (Mike) Chen, Emilie Danna, Kory Hedman, Mark Iwen, Wei Kang, John Marriott, Anders Nottrott, George Yin, and Qing Zhang IMA Preprint Series # 2373 ( July 211 ) INSTITUTE FOR MATHEMATICS AND ITS APPLICATIONS UNIVERSITY OF MINNESOTA 4 Lind Hall 27 Church Street S.E. Minneapolis, Minnesota Phone: Fax: URL:

2 Battery Storage Control for Steadying Renewable Power Generation Shengyuan (Mike) Chen, Emilie Danna, Kory Hedman, Mark Iwen, Wei Kang, John Marriott, Anders Nottrott, George Yin, Qing Zhang March 18, 211 Problem Presented by: Robert Entriken, EPRI Abstract We consider two methods for managing fluctuations in power generation due to intermittent renewable energy generation. Excess energy must be stored during s of excess power generation, and then released when power generation decreases, thereby stabilizing the energy supply. We will consider evening the supply by storing excess power to a battery during excess generation, and then releasing the energy when power generation diminishes. Among other considerations, we would like to release and store energy at a bounded rate, and restrict the power saved (thereby reducing the required battery size). 1 Introduction There is an international push to increase our use of clean, renewable electric energy. Many states within the United States have adopted renewable portfolio standards, which require a certain percentage of electric energy production to come from renewable resources. In the 211 State of the Union Address, President Obama stated that he wants the USA to have 8 percent of our energy come from renewable sources by 235. These mandates pose new technical challenges to operating the highvoltage electric grid. Much of the renewable energy requirements will come 1

3 Irradiance [W/m -2 ] from future investments in wind energy and solar energy. Solar energy and wind energy are not controllable generation resources like traditional generation resources such as coal, natural gas, nuclear, and hydro. These resources are intermittent and can have fast and unpredictable output fluctuations. These fluctuations pose a strain on the operations of the grid. For instance, grid operators must have backup generation on standby in order to compensate for the intermittency of these resources. 1 8 Measured (1 Hz) Modeled Clear Sky Time [hours] Data: J. Kleissl (21), DEMROES Figure 1: True Output (Red) Vs. Clear Output (Black) with no clouds, etc. As an example of renewable generation intermittency, consider Figure 1. It demonstrates the variation of power output from a solar panel. The red curve demonstrates true measured power output. The black curve demonstrates the expected output with no noise (i.e., constant sun over the course of a day with no clouds, birds, or other objects passing over the panel, etc.). The red curve demonstrates the sharp noisy variations produced by real solar

4 panels which can be disruptive to the grid, and can be smoothed via battery storage. Note that solar panels which are located closely to one another will have highly correlated power noise. Thus, one can not hope for noise variations from many panels to average out the noise too much. Intra-hour forecasting PV power output stabilization Image: J. Kleissl (21) Figure 2: Battery Used to Level Power Output from Solar Panel One technique to limit the impact of these intermittent resources on the grid is to couple them with energy storage, i.e., a battery. For instance, when a cloud passes over a solar panel, the output of energy can drop by 7% very quickly. A battery can be used to smooth out this fast drop in electric energy to the grid such that the net output to the grid has a much slower rate of change. See Figure 2 for an example of a solar panel/battery unit. This type of system is exactly what we will consider optimizing in this report. The remainder of this report is organized as follows: In Section 2 a linear programming model is considered for optimizing both the required battery

5 storage size, and battery charge rates. Minimizing the required battery size minimizes the unit system cost, while minimizing storage/discharge rates enhances battery life. The output power is smoothed as much as possible within these competing battery cost constraints. This linear programming model is scenario based that is, the battery characteristics and behavior are determined with respect to a dictionary of average days. In Section 3 we focus on optimal control of the battery of a predetermined size. The (dis)charge rate of the battery is optimized in order to provide a smooth output power supply to the grid. 2 Linear Programming Model The objective of the following Linear Programming (LP) problem is to determine the optimal (minimal) size of a battery required in order to (nearly) deliver promised power to the grid, (1), such that the net output to the grid does not fluctuate beyond levels that the grid can handle; these rates of changes are referred to as ramp rate constraints and are shown by (3) and (4). The model is a scenario based problem with the scenarios reflecting various potential energy output levels from the solar panel/wind turbine. Equation (2) represents the relationship between the storage output, the solar panel input, and the net output to the grid. Equation (5) ensures that the energy storage device s charge is always non-negative. Equation (6) ensures that the storage device s charge never exceeds its maximum. Equation (7) ensures that the net output from the storage device is zero over the cycle that is being modeled, be it a day, week, month, etc. Equations (8) through (14) determine at what s the battery unit will be used in order to smooth the power supply to the grid. Variables: E max : Maximum size of the energy storage device E : Initial Charge in the energy storage device P n o,t: Output power to the grid at t for scenario n P n s,t: Output power from the storage device at t for scenario n Parameters: Rt : Maximum ramp up/down rate allowable to the grid/battery Pi,t: n Input from the solar panel at t for scenario n

6 min E max n,t p n LMP t P n o,t + n,t α t p n D n o,t (1) P n s,t P n o,t = P n P n o,t P n o,t 1 R max t i,t (2) U t 1 + R up t V t t, n (3) Po,t 1 n Po,t n Rt min U t + Rt down W t t, n (4) t E o Ps,k n n, t (5) E o k=1 t Ps,k n E max n, t (6) k=1 T Ps,k n = n (7) k=1 V t W t = U t U t 1 t (8) V t U t t (9) V t 1 U t 1 t (1) W t 1 U t t (11) W t U t 1 t (12) U t, V t, W t 1 t (13) U t, 1 t (14) Ps,t max U t Po,t n (Pi,t max + Ps,t max )U t n, t (15) Ps,t max U t P o,t (Pi,t max + Ps,t max )U t n, t (16) Do,t n P o,t Po,t n n, t (17) D n o,t P o,t + P n o,t n, t (18) U t = 1 when battery unit is on at t, otherwise (19) V t = 1 when battery unit is started at t, otherwise (2) W t = 1 when battery unit is shutdown at t, otherwise (21) P o,t = promised output to the grid (22) D n o,t = deviation of real output from promised output (23) A preliminary experiment was conducted with a precursor to the LP

7 Power [kw] Ramp Rate [kw/hr] presented above. The results are presented in Figure 3. Note that the battery size requirement is rather large. This is primarily due to the fact that this scenario was generated with the goal of smoothing power over an entire 24 hour period, which caused the system to attempt to store a good deal of energy throughout the entire day and then release it throughout the night. However, this is somewhat impractical given that power consumption rates are generally lower at night, and that other traditional power systems could be utilized to provide power during the night. In the LP model presented above, we are allowed to decide when we would like to smoothen the power output to the grid (i.e., during the day only) via the binary U t, V t, and W t variables. This should allow the required battery size to be greatly reduced. Ramp Rate Limit = 7.5 kw/hr Minimum Storage Size = 29.7 kw hr System: Powell Structural Systems Laboratory, UCSD Campus System Physical Size/Rating (Approx): 12 m 2 / 18.3 kw Minimum storage requirement equivalent to about 29 Lead-Acid Car Batteries 2 PV DC Output PV/Storage DC Output 6 PV/Storage System Output Ramp Rate Ramp Limit = Time [Hours] Time [Hours] Figure 3: Battery Used to Level Power Output from Solar Panel

8 3 An Optimal Control Approach Let P I be the power output into a grid of electric power network. Due to the nature of renewable energy, fluctuation of P I could be so significant that a storage is required as the means of control to achieve steady power flow. Let P S be the power flow from the storage, the resulting power output to the network is denoted by P O. The problem is to find a feedback of controlling P S or P S so that P O is as steady as possible, provided that the total energy, E S, in the storage is within its capacity. For the reason of continuous operation, we also require that the final value of E S equals a half of the maximum storage capacity, or any other value that is appropriate. A preliminary formulation of the problem has the following form subject to min P S t +T t P O = P I + P S E S (t) = E S () E S (t ) = E S E S (t + T ) = E S1 (λf( P O ) + (1 λ) P 2 S)dt t t P S (t)dt E M S In this formulation, P I can be a known function of t, or it is a random process. In the cost function, f( P O ) has a minimum value at P O =. This is to ensure that P O is close to zero. By including P S 2 in the cost function, the speed of charging the storage is limited for the reason of battery lifespan. 3.1 Moving Horizon Optimal Control In moving horizon optimal control, an open-loop optimal control P S (t) is computed for a given interval. Then this control input is updated real. The advantage of this approach is its capability of finding controllers with constraints. However, it requires real- numerical solution of optimization. For this purpose, the stabilization of P O is formulated as a problem of optimal control. Denote x 1 = E S, x 2 = P S, and the control input is

9 u = P S, the velocity the battery is charged or discharged. Then the problem of optimal control is formulated as follows subject to Φ = min u t+t t (λf( P O ) + (1 λ)u 2 )dt ẋ 1 = x 2 ẋ 2 = u x 1 ES M x 1 (t ) = E S x 1 (t + T ) = E S1 P O = P I u The method of pseudospectral optimal control is applied to numerically solve the optimal control problem. For testing purposes, let λ = 1 and we assume a predictable variation of P I in a five hour interval P I = 7 sin(2πt/tf), tf = 5 To minimize the variation, we take a quadratic function f( P O ) = P 2 O If there is enough storage, then the control is able to completely stabilize P O so that it has zero variation. However, the storage capacity may not be adequate. Figure 4 is a numerical result with battery storage capacity about 25% short of the amount required to fully stabilize the power output. In this case, the minimum cost is Φ = In this computation, we allow the battery to jump start. If the initial P S is zero, then the optimal control is shown in Figure 5. The zero initial P I is quite restrictive. In fact, the cost, Φ = 5718, is four s that of using jump start. In the figures, it may seem like a saturation of E s in an interval around t = 2.5. In fact, it is due to the inaccuracy of the plot. In a computation with enough number of nodes, for this case N = 61, E s peaks at t = 2.5, but do not saturate in an interval around this point. By peaking at t = 2.5, this controller works aggressively to stabilize P O as much as it can achieve. A more conservative controller can be computed by weighting on E s, which is shown in the next section.

10 In some applications, a quadratic cost function may not serve the purpose. For example, it is important to keep P O away from a bound. In this case, we apply a U shaped cost function f( P O ) (Figure 6). Then the control policy is much closer to piecewise linear. For instance, assuming 25% short of storage, with jump start, we have the following performance (Figure 7). In the case of continuous start, the result is shown in Figure State Feedback Control If the fluctuation of the input power has significant random variation, a moving horizon controller may not be able to react fast enough to the random change. For this purpose, a feedback control law is desirable. Suppose P O = P I + w t + u where w t is a Brownian motion that represents the random part of the input power variation. Denote x 3 = P O, then the problem can be formulated as follows ( t +T ) Φ = min E (λf( P O ) + (1 λ)(x 1 ES M /2) 2 )dt u t subject to ẋ 1 = x 2 ẋ 2 = u dx 3 = ( P I u)dt + σdw t In this formulation, the term in (x 1 ES M/2)2 is used to limit the magnitude of variation in the storage. By increasing the value of λ, the controller is less aggressive and E s tends to stay away from its capacity limit. For instance, if λ = 1/3 and without random variation, Figure 9 shows the control performance If f( P O ) = P O 2

11 then E = E = ( t +T ( t t +T t t +T t ) (λf( P O ) + (1 λ)(x 1 ES M /2) 2 )dt (λ(( P I u) 2 + 2σ( P I u)ẇ t + (σẇ t ) 2 ) + (1 λ)(x 1 E M S /2) 2 )dt (λ(( P I u) 2 + σ 2 ) + (1 λ)(x 1 E M S /2) 2 )dt We can remove the constant term σ 2 from the cost function Φ = min u t+t t (λ( P I u) 2 + (1 λ)(x 1 E M S /2) 2 )dt The optimal cost is a functional Φ(t, x 1, x 2, P I ) and the optimal control law is also a functional u(t, x 1, x 2, P I ). They satisfy the following Hamilton- Jacobi-Bellman (HJB) equation ( Φ Φ t + min x 2 + Φ u + Φ ) ( P u x 1 x 2 x I + u) + σ2 2 Φ + λ( P 3 2 x 2 I u) 2 + (1 λ)(x 1 ES M /2) 2 3 = Φ(t + T, x 1, x 2, x 3, P I ) = The optimal control has the form u = 1 ( Φ + Φ ) + 2λP 2 x 2 x I 3 Ideally, we would like to analytically solve the HJB equation so that the feedback controller is derived explicitly. Such a controller avoids the online numerical optimization, which significantly reduces the computational load for real- applications. ) 4 Conclusions This report is focused on the problem of limiting the impact of intermittent resources on power grids by using energy storage. A battery can be used to smooth out fast power fluctuations caused by renewable electricity resources such that the net output to the grid has a much slower rate of change. A

12 first question to be answered is to determine the minimal size of a battery that is needed to provide adequate storage for the control of the energy output. Several issues and constraints must be taken into consideration in the modeling and computation including the bound of the net output fluctuation the grid can handle, the relationship between the storage output, the solar panel input, and the net output to the grid, the storage device s maximum charge, and the cycle that is being modeled. The problem is formulated as a linear programming and the model is tested using the parameters from Powell Structural Systems Laboratory of UCSD. The work is still preliminary. More factors and data need to be integrated into this study to provide a comprehensive analysis of the storage required by the system, such as the various levels of demands in day and night, the statistical data on seasonal supply and demand, etc. The second part of the report focuses on the control of the power system using a given storage. The problem is formulated as an optimal control of dynamical systems, deterministic or stochastic depending on the accuracy of the power supply forecast. Two control methodologies are proposed, moving horizon and state feedback control. For the former, pseudospectral optimal control is applied to the model and simulations are carried out to verify the feasibility of the method. For the state feedback control, the solution depends on a Hamilton-Jacobi-Bellman equation that is explicitly derived in the last part of the report. Solving this equation for state feedback control remains an important problem for future research.

13 1 Power Ouput 5 P I and P O Storage 8 6 E S Figure 4: P I (blue) and P O (red) vs ; Total storage vs

14 1 Power Ouput 5 P I and P O Storage 8 6 E S Figure 5: P I (blue) and P O (red) vs ; Total storage vs

15 Figure 6: f( P O )

16 1 Power Ouput 5 P I and P O Storage 8 6 E S Figure 7: P I and P O vs ; Total storage vs

17 1 Power Ouput 5 P I and P O Storage 8 6 E S Figure 8: P I and P O vs ; Total storage vs

18 1 Power Ouput 5 P I and P O Storage 8 6 E S Figure 9: P I and P O vs ; Total storage vs